<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.6"/>
<title>My Project: src/rrt_planner.cpp 文件参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { searchBox.OnSelectItem(0); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td style="padding-left: 0.5em;">
   <div id="projectname">My Project
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.8.6 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'搜索');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>首页</span></a></li>
      <li><a href="namespaces.html"><span>命名空间</span></a></li>
      <li><a href="annotated.html"><span>类</span></a></li>
      <li class="current"><a href="files.html"><span>文件</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="搜索" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>文件列表</span></a></li>
      <li><a href="globals.html"><span>文件成员</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>全部</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>类</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>命名空间</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>文件</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>函数</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>变量</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>宏定义</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_6c3774c11dfdacb5ed6c15815af6f4fa.html">src</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="summary">
<a href="#namespaces">命名空间</a> &#124;
<a href="#func-members">函数</a> &#124;
<a href="#var-members">变量</a>  </div>
  <div class="headertitle">
<div class="title">rrt_planner.cpp 文件参考</div>  </div>
</div><!--header-->
<div class="contents">
<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br/>
<code>#include &lt;stdlib.h&gt;</code><br/>
<code>#include &lt;unistd.h&gt;</code><br/>
<code>#include &lt;string.h&gt;</code><br/>
<code>#include &lt;sys/types.h&gt;</code><br/>
<code>#include &lt;sys/socket.h&gt;</code><br/>
<code>#include &lt;netinet/in.h&gt;</code><br/>
<code>#include &lt;netdb.h&gt;</code><br/>
<code>#include &lt;fstream&gt;</code><br/>
<code>#include &lt;iostream&gt;</code><br/>
<code>#include &lt;iomanip&gt;</code><br/>
<code>#include &lt;string&gt;</code><br/>
<code>#include &lt;time.h&gt;</code><br/>
<code>#include &lt;omp.h&gt;</code><br/>
<code>#include &lt;pluginlib/class_list_macros.h&gt;</code><br/>
<code>#include &quot;<a class="el" href="inspire__rrt__planner_8h_source.html">inspire_rrt_planner.h</a>&quot;</code><br/>
</div>
<p><a href="rrt__planner_8cpp_source.html">浏览源代码.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
命名空间</h2></td></tr>
<tr class="memitem:namespacerrt__plan"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacerrt__plan.html">rrt_plan</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
函数</h2></td></tr>
<tr class="memitem:ae63d6003ff9416f7c0be6892e5bb899c"><td class="memItemLeft" align="right" valign="top">ofstream&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rrt__planner_8cpp.html#ae63d6003ff9416f7c0be6892e5bb899c">irrtlog</a> (&quot;/home/xuefengchang/irrtlog.txt&quot;)</td></tr>
<tr class="separator:ae63d6003ff9416f7c0be6892e5bb899c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6809e130ecd9478df9ca56b4bceb8487"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rrt__planner_8cpp.html#a6809e130ecd9478df9ca56b4bceb8487">clock_gettime</a> (clockid_t clk_id, struct timespect *tp)</td></tr>
<tr class="separator:a6809e130ecd9478df9ca56b4bceb8487"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b34910310800875174c4846e64a61bd"><td class="memItemLeft" align="right" valign="top">long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rrt__planner_8cpp.html#a3b34910310800875174c4846e64a61bd">getCurrentTime</a> ()</td></tr>
<tr class="separator:a3b34910310800875174c4846e64a61bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5959b2e100c03e81bd1c5049adf30165"><td class="memItemLeft" align="right" valign="top">timespec&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rrt__planner_8cpp.html#a5959b2e100c03e81bd1c5049adf30165">diff</a> (timespec start, timespec end)</td></tr>
<tr class="separator:a5959b2e100c03e81bd1c5049adf30165"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
变量</h2></td></tr>
<tr class="memitem:a298f4debf9e9db57dcaa736916e4b451"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rrt__planner_8cpp.html#a298f4debf9e9db57dcaa736916e4b451">mapSize</a></td></tr>
<tr class="separator:a298f4debf9e9db57dcaa736916e4b451"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8e6863a3519a503a24344e88545eb3d"><td class="memItemLeft" align="right" valign="top">bool *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rrt__planner_8cpp.html#ab8e6863a3519a503a24344e88545eb3d">OGM</a></td></tr>
<tr class="separator:ab8e6863a3519a503a24344e88545eb3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56d338f4195d0ebc4906a1085f3eed83"><td class="memItemLeft" align="right" valign="top">bool *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rrt__planner_8cpp.html#a56d338f4195d0ebc4906a1085f3eed83">OGM2</a></td></tr>
<tr class="separator:a56d338f4195d0ebc4906a1085f3eed83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51725e16375c08b52f82eb2faa5a921c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classRRT.html">RRT</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="rrt__planner_8cpp.html#a51725e16375c08b52f82eb2faa5a921c">myRRT</a></td></tr>
<tr class="separator:a51725e16375c08b52f82eb2faa5a921c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">函数说明</h2>
<a class="anchor" id="a6809e130ecd9478df9ca56b4bceb8487"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int clock_gettime </td>
          <td>(</td>
          <td class="paramtype">clockid_t&#160;</td>
          <td class="paramname"><em>clk_id</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">struct timespect *&#160;</td>
          <td class="paramname"><em>tp</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="a5959b2e100c03e81bd1c5049adf30165"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">timespec diff </td>
          <td>(</td>
          <td class="paramtype">timespec&#160;</td>
          <td class="paramname"><em>start</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">timespec&#160;</td>
          <td class="paramname"><em>end</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt__planner_8cpp_source.html">rrt_planner.cpp</a> 第 <a class="el" href="rrt__planner_8cpp_source.html#l00041">41</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    timespec temp;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordflow">if</span> ((end.tv_nsec-start.tv_nsec)&lt;0)</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    {</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        temp.tv_sec = end.tv_sec-start.tv_sec-1;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    }</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        temp.tv_sec = end.tv_sec-start.tv_sec;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        temp.tv_nsec = end.tv_nsec-start.tv_nsec;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> temp;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="a3b34910310800875174c4846e64a61bd"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">long getCurrentTime </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt__planner_8cpp_source.html">rrt_planner.cpp</a> 第 <a class="el" href="rrt__planner_8cpp_source.html#l00034">34</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;{</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">struct </span>timeval tv;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    gettimeofday(&amp;tv,NULL);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">return</span> tv.tv_sec*1000+tv.tv_usec/1000;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="ae63d6003ff9416f7c0be6892e5bb899c"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">ofstream irrtlog </td>
          <td>(</td>
          <td class="paramtype">&quot;/home/xuefengchang/irrtlog.txt&quot;&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<h2 class="groupheader">变量说明</h2>
<a class="anchor" id="a298f4debf9e9db57dcaa736916e4b451"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int mapSize</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt__planner_8cpp_source.html">rrt_planner.cpp</a> 第 <a class="el" href="rrt__planner_8cpp_source.html#l00026">26</a> 行定义.</p>

</div>
</div>
<a class="anchor" id="a51725e16375c08b52f82eb2faa5a921c"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classRRT.html">RRT</a> myRRT</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt__planner_8cpp_source.html">rrt_planner.cpp</a> 第 <a class="el" href="rrt__planner_8cpp_source.html#l00029">29</a> 行定义.</p>

</div>
</div>
<a class="anchor" id="ab8e6863a3519a503a24344e88545eb3d"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool* OGM</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt__planner_8cpp_source.html">rrt_planner.cpp</a> 第 <a class="el" href="rrt__planner_8cpp_source.html#l00027">27</a> 行定义.</p>

</div>
</div>
<a class="anchor" id="a56d338f4195d0ebc4906a1085f3eed83"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool* OGM2</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt__planner_8cpp_source.html">rrt_planner.cpp</a> 第 <a class="el" href="rrt__planner_8cpp_source.html#l00028">28</a> 行定义.</p>

</div>
</div>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
生成于 2017年 四月 7日 星期五 09:19:14 , 为 My Project使用  &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.6
</small></address>
</body>
</html>
